From 1e3951aa539f4854f35dd5170a91b4cfc35a6779 Mon Sep 17 00:00:00 2001 From: damic014 Date: Tue, 1 Oct 2019 19:33:01 -0500 Subject: Delete Motor.py --- System_Python/Motor.py | 67 -------------------------------------------------- 1 file changed, 67 deletions(-) delete mode 100644 System_Python/Motor.py (limited to 'System_Python') diff --git a/System_Python/Motor.py b/System_Python/Motor.py deleted file mode 100644 index d2e7958..0000000 --- a/System_Python/Motor.py +++ /dev/null @@ -1,67 +0,0 @@ -#!/usr/bin/env python - -# Import required modules -import RPi.GPIO as GPIO - -# Constants: parameters that the caller cannot modify -# Frequency: We have determined that the optimal frequency for our motor is 1kHz -pwm_frequency = 1000 - -# Motor Class -# This controls the motor at the given IO -class Motor: - def __init__(self, speed_pin, forward_pin, reverse_pin): - # Set the board IO (just in case it hasn't been done yet) - GPIO.setmode(GPIO.BOARD) - # Set our variables for the directional pins - self.forward_pin = forward_pin - self.reverse_pin = reverse_pin - # setup the IO - GPIO.setup(speed_pin, GPIO.OUT) - GPIO.setup(self.forward_pin, GPIO.OUT) - GPIO.setup(self.reverse_pin, GPIO.OUT) - # Set speed pin as a PWM output - self.speed_pwm = GPIO.PWM(speed_pin, pwm_frequency) - # END __init__ - - # Move the motor at a given speed, given as a floating point percentage (-100 <= x <= 100) - # If speed is less than 0, motor will run in reverse, otherwise it will run forward - def Move(self, speed): - if speed < -100.0 or speed > 100.0: - return - # Stop any previous movements - self.speed_pwm.stop() - # Set the duty cycle for the speed of the motor - self.speed_pwm.ChangeDutyCycle(abs(speed)) - if speed < 0: - # Set direction to reverse - GPIO.output(self.forward_pin, GPIO.LOW) - GPIO.output(self.reverse_pin, GPIO.HIGH) - else: - # Set the direction to forward - GPIO.output(self.forward_pin, GPIO.HIGH) - GPIO.output(self.reverse_pin, GPIO.LOW) - # Start the PWM output to start moving the motor - self.speed_pwm.start() - # END Move - - # Stop the motor from spinning. - # To brake the motor, both direction outputs are set to HIGH - def Brake(self): - # Stop any current PWM signals - self.speed_pwm.stop() - # Set the direction outputs to brake - GPIO.output(self.forward_pin, GPIO.HIGH) - GPIO.output(self.reverse_pin, GPIO.HIGH) - # END Brake - - # Set the motor to coast (i.e. Do not provide power to the motor, but still allow it to spin) - # To coast the motor, both direction outputs are set to LOW - def Coast(self): - # Stop any current PWM signals - self.speed_pwm.stop() - # Set the direction outputs to coast - GPIO.output(self.forward_pin, GPIO.LOW) - GPIO.output(self.reverse_pin, GPIO.LOW) - # END Coast - \ No newline at end of file -- cgit v1.2.3